EP2704932A1 - Anti-blocking system for a vehicle having an electromotive vehicle drive unit - Google Patents

Anti-blocking system for a vehicle having an electromotive vehicle drive unit

Info

Publication number
EP2704932A1
EP2704932A1 EP12708495.2A EP12708495A EP2704932A1 EP 2704932 A1 EP2704932 A1 EP 2704932A1 EP 12708495 A EP12708495 A EP 12708495A EP 2704932 A1 EP2704932 A1 EP 2704932A1
Authority
EP
European Patent Office
Prior art keywords
braking
speed
vehicle
drive
abs
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12708495.2A
Other languages
German (de)
French (fr)
Other versions
EP2704932B1 (en
Inventor
Sebastian LOOS
Dirk Hirschmann
Bodo Kleickmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Audi AG
Original Assignee
Audi AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Audi AG filed Critical Audi AG
Publication of EP2704932A1 publication Critical patent/EP2704932A1/en
Application granted granted Critical
Publication of EP2704932B1 publication Critical patent/EP2704932B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/602—ABS features related thereto
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

Definitions

  • the invention relates to an anti-lock braking system for a vehicle with an electromotive vehicle drive according to the preamble of patent claim 1.
  • Electromotive vehicle drives which use electric machines as drive motors which can be operated both in engine operation and in generator operation have a torque generated by the Lorentz force, which assumes a positive value for acceleration and a negative value for braking.
  • the Lorentz force is proportional to the cross product of the current in the stator and the magnetic flux, which passes through both stator and rotor. It follows that the torque in an electric machine is variable not only by the change of the current and the magnetic flux, but also by the angle that the two vectorial quantities have to each other. In the control of electrical machines, therefore, the voltage at the terminals of the machine is changed so that the torque resulting from the cross product assumes the required value.
  • the way in which the three sizes can be adapted or adapted depends greatly on the respective machine type.
  • ABS anti-lock braking systems
  • a high braking effect and a driver controllable driving stability is achieved for the vehicle.
  • the vehicle remains steerable even at maximum braking power by the anti-lock braking system.
  • the electric drive motors are operated during braking as generators, with a recuperative braking torque acting on the drive wheels of the drive motors.
  • a recuperative brake system in which an electric motor is operated as a generator during the braking process.
  • the recuperation torque is limited in such a way that the slip does not or only insignificantly exceeds a predetermined slip threshold on at least one vehicle wheel.
  • the invention has for its object to provide an anti-lock brake system for a vehicle with electromotive vehicle drive, with the optimal braking deceleration is achieved with the greatest possible driving stability.
  • each electric drive motor is fed by a controllable converter assigned to it, which in turn constantly receives a minimum braking speed for the associated drive motor from an anti-lock braking system control unit, ABS control unit for short, which minimum braking speed is so dimensioned. that a predetermined maximum brake slip is not exceeded.
  • ABS control unit for short, which minimum braking speed is so dimensioned. that a predetermined maximum brake slip is not exceeded.
  • all braking speeds above the minimum braking rotational speed are permissible during a braking operation, since this ensures that the brake slip at the wheels is not unduly large.
  • the converter controls its associated drive motor in such a way that it achieves an optimum minimum braking speed. Since each drive motor is associated with an inverter, optimum braking power can be set for each of the drive wheels. At the same time it is ensured that none of the drive wheels under a maximum braking operation falls below a predetermined brake slip limit, whereby a high driving stability and steering ability is ensured even in an extreme braking situation.
  • an individual minimum braking speed for each drive wheel is specified as a function of the current driving speed and possibly further driving conditions.
  • the minimum braking speed for each drive wheel or each drive motor not only the driving speed, but also, for example, the current vehicle weight, the ambient temperature, the state of charge of the vehicle and possibly also the selected operating mode of the vehicle received.
  • the minimum braking speed can be constantly transmitted to the inverters, that is to say also during normal driving operation, so that they can make a corresponding compliance with the minimum braking speed in the braking situation by means of a speed limit value monitoring.
  • the converter ensures that the rotating field generated in the drive motor assigned to it is regulated so that the predetermined minimum braking speed is not undershot even with a predetermined maximum braking effect.
  • the drive motor is constructed as a synchronous machine, the speed of the rotating field generated by the inverter is controlled to the minimum braking speed with a maximum predetermined braking effect.
  • the ABS control unit actively controls the slip of the drive wheels, that is, the ABS control unit indicates to the inverter the minimum brake speed associated with optimal brake slip. The slip control is individually realized in this way for each drive wheel in a simple manner.
  • brake slip is limited for each drive wheel in the range between 10% and 20% of the respectively current driving speed of the vehicle.
  • Which value is exactly expedient can be stored in a value memory of a control device for the respective vehicle and for different driving states.
  • the currently valid value for the maximum brake slip can also be calculated on the basis of current vehicle parameters, such as vehicle weight, driving speed, ambient temperature.
  • a support of the recuperative braking torque can be done by the hydraulic friction brakes of the vehicle.
  • a basic braking power may be provided by the friction brakes, while that beyond required braking torque is provided by an appropriate speed control to the inverters of the drive motors.
  • a division of the emanating from the friction brakes braking effect and the recuperative braking effect of the drive motors can be done in the vehicle dynamics controller or another control device of the vehicle.
  • FIG. 1 shows the drive and brake system of a vehicle with electromotive vehicle drive, wherein each of the four drive wheels AR1 to AR4 is driven by an associated electric drive motor M1 to M4.
  • the drive motors M1 to M4 are operated as generators during a braking operation and thereby generate a recuperative braking torque at the drive wheels AR1 to AR4.
  • the drive motors M1 to M4 are fed by respective associated converters U1 to U4 with a three-phase rotary current.
  • the inverters U1 to U4 are connected to the supply voltage U v .
  • the inverter U1 to U4 are connected to an ABS control unit ABS and another control unit SG, which is here the engine control unit with integrated vehicle dynamics controller.
  • the ABS control unit ABS and the control unit SG are also connected via control lines with sensor units SE1 to SE4, which transmit drive-specific information to the control units ABS and SG.
  • the wheel speeds of the drive wheels AR1 to AR4 are detected by the sensor units SE1 to SE4, with which in the control unit ABS and / or SG the peripheral speeds of the Drive wheels AR1 to AR4 can be calculated individually.
  • the brake slip for the respective drive wheels AR1 to AR4 is determined in particular during a braking operation.
  • each drive wheel AR1 to AR4 is equipped with a friction brake RB1 to RB4, which are actuated by the ABS control unit ABS.
  • the ABS control unit ABS can actuate the friction brakes RB1 to RB4 in such a way that a basic braking torque is transmitted to the drive wheels AR1 to AR4 from them.
  • This basic braking torque can now be superimposed on a recuperative braking effect emanating from the drive motors M1 to M4.
  • the drive motors M1 to M4 are operated as generators and thereby monitored that a predetermined minimum braking speed is not exceeded.
  • This minimum braking speed which can be set individually for each drive wheel AR1 to AR4, corresponds to a predetermined brake slip, which should not be exceeded as a limit value. The minimum braking speed thus limits the brake slip on the drive wheels AR1 to AR4.
  • v min the peripheral speed of the drive wheel reduced by the predetermined maximum brake slip
  • r the dynamic tire radius (tire radius) of the respective drive wheel.
  • the value determined in this way for the minimum braking speed n min is individually determined on the basis of the current driving situation for each of the drive wheels AR1 to AR4 and transmitted from the ABS control unit ABS to the respectively associated converters U1 to U4. In this way, there is a direct control of the inverter U1 to U4 to control the wheel speeds of the drive wheels AR1 to AR4 in such a way that the respective predetermined minimum braking speed n min is not exceeded.
  • this minimum brake speed is constantly updated by the ABS control unit and communicated to the inverters U1 to U4.
  • the current actual value of the wheel speed of the associated drive wheel AR1 to AR4 can also be transmitted to the converters U1 to U4 via the control inputs S1 to S4, so that a constant actual value setpoint comparison is carried out in the converter U1 to U4 for control purposes can.
  • the inverters U1 to U4 can thus also be generally referred to as electric motor control devices.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to an anti-blocking system for a vehicle having an electromotive vehicle drive unit comprising one or more driving motors (M1 to M4). During a braking process, the braking effect of the driving motors (M1 to M4) operating as a generator is limited in such a way that brake slip on at least one driving wheel (AR1 to AR4) is limited to a predefined threshold value. The rotational speed of each driving motor (M1 to M4) is regulated by a controllable converter (U1 to U4) associated therewith, the ABS control device (ABS) constantly transmitting, to each converter (U1 to U4), a mandatory minimum braking rotational speed (nmin) for the driving motor (M1 to M4) associated with the respective converter (U1 to U4) in order to limit brake slip.

Description

Beschreibung Antiblockiersvstem für ein Fahrzeug  Description Anti-lock braking system for a vehicle
mit elektromotorischem Fahrzeuqantrieb  with electromotive vehicle drive
Die Erfindung betrifft ein Antiblockiersystem für ein Fahrzeug mit elektromotorischem Fahrzeugantrieb nach dem Oberbegriff des Patentanspruchs 1. The invention relates to an anti-lock braking system for a vehicle with an electromotive vehicle drive according to the preamble of patent claim 1.
Elektromotorische Fahrzeugantriebe, die als Antriebsmotoren elektrische Maschinen verwenden, die sowohl im Motorbetrieb als auch im Generatorbetrieb betrieben werden können, haben ein durch die Lorentzkraft erzeugtes Drehmoment, welches zum Beschleunigen einen positiven Wert und zum Bremsen einen negativen Wert einnimmt. Die Lorentzkraft ist proportional zum Kreuzprodukt aus dem Strom im Stator und dem magnetischen Fluss, der sowohl Stator als auch Rotor durchsetzt. Daraus ergibt sich, dass das Drehmoment in einer elektrischen Maschine nicht nur durch die Veränderung des Stroms und des magnetischen Flusses veränderbar ist, sondern auch durch den Winkel, den die beiden vektoriellen Größen zueinander haben. Bei der Regelung elektrischer Maschinen wird daher die Spannung an den Klemmen der Maschine so verändert, dass das aus dem Kreuzprodukt resultierende Drehmoment den geforderten Wert annimmt. In welcher Weise die drei Größen angepasst werden bzw. angepasst werden können, hängt stark vom jeweiligen Maschinentyp ab. Bei Drehfeldmaschinen läuft zur Erzeugung eines Drehmoments der Stromvektor mit der gleichen Geschwindigkeit, wie das magnetische Feld (Drehfeld) im Stator um. Bei Synchronmaschinen ist die Richtung des Rotorfelds durch dessen Aufbau fest vorgegeben. Um eine konstante Kraft zu erzeugen, muss sich der Rotor daher mit der gleichen Geschwindigkeit drehen, wie der Strom im Stator umläuft. Falls der Strom dem Feld vorauseilt, ergibt sich ein positives Drehmoment (Beschleunigung), und falls er dem Feld nacheilt, ergibt sich ein negatives Drehmoment (Bremsen). Electromotive vehicle drives which use electric machines as drive motors which can be operated both in engine operation and in generator operation have a torque generated by the Lorentz force, which assumes a positive value for acceleration and a negative value for braking. The Lorentz force is proportional to the cross product of the current in the stator and the magnetic flux, which passes through both stator and rotor. It follows that the torque in an electric machine is variable not only by the change of the current and the magnetic flux, but also by the angle that the two vectorial quantities have to each other. In the control of electrical machines, therefore, the voltage at the terminals of the machine is changed so that the torque resulting from the cross product assumes the required value. The way in which the three sizes can be adapted or adapted depends greatly on the respective machine type. In induction machines, to generate a torque, the current vector runs at the same speed as the magnetic field (rotating field) in the stator. In synchronous machines, the direction of the rotor field is fixed by its structure specified. Therefore, to generate a constant force, the rotor must rotate at the same speed as the current in the stator rotates. If the current is ahead of the field, there is a positive torque (acceleration), and if it lags the field, there is a negative torque (braking).
Für Fahrzeuge sind seit vielen Jahren Antiblockiersysteme bekannt, abgekürzt ABS genannt, die im Falle einer gewünschten maximalen Bremsverzögerung verhindern, dass die abgebremsten Fahrzeugräder blockieren. Dadurch wird für das Fahrzeug eine hohe Bremswirkung und eine vom Fahrer beherrschbare Fahrstabilität erreicht. Insbesondere bleibt das Fahrzeug auch bei maximaler Bremsleistung durch das Antiblockiersystem noch lenkbar. For vehicles anti-lock braking systems have been known for many years, abbreviated to ABS, which prevent the braked vehicle wheels from locking in the event of a desired maximum braking deceleration. As a result, a high braking effect and a driver controllable driving stability is achieved for the vehicle. In particular, the vehicle remains steerable even at maximum braking power by the anti-lock braking system.
In Fahrzeugen mit elektromotorischem Fahrzeugantrieb, wie er auch in Hybridfahrzeugen vorgesehen ist, werden die elektrischen Antriebsmotoren beim Bremsvorgang als Generatoren betrieben, wobei ein rekuperatives Bremsmoment von den Antriebsmotoren auf die Antriebsräder einwirkt. Aus der DE 10 2008 017 480 A1 ist eine derartige rekuperative Bremsanlage bekannt, bei der ein Elektromotor als Generator während des Bremsvorganges betrieben wird. Zur Vermeidung eines Überbremsens an der Hinterachse wird dort vorgeschlagen, dass das Rekuperationsmoment derart begrenzt wird, dass an mindestens einem Fahrzeugrad der Schlupf eine vorgegebene Schlupfschwelle nicht oder nur unwesentlich überschreitet. Der Erfindung liegt die Aufgabe zugrunde, ein Antiblockiersystem für ein Fahrzeug mit elektromotorischem Fahrzeugantrieb anzugeben, mit dem eine optimale Bremsverzögerung bei gleichzeitig möglichst großer Fahrstabilität erreicht wird. Die Lösung dieser Aufgabe wird durch die im Patentanspruch 1 angegebenen Merkmale erhalten. Bevorzugte Weiterbildungen der Erfindung sind in den Unteransprüchen offenbart. Jeder elektrische Antriebsmotor wird erfindungsgemäß von einem ihm zugeordneten steuerbaren Umrichter gespeist, der seinerseits von einem Antiblockiersystem-Steuergerät, kurz ABS-Steuergerät, ständig eine nicht zu unterschreitende Mindest-Bremsdrehzahl für den zugeordneten Antriebsmotor mitgeteilt bekommt, wobei diese Mindest-Bremsdrehzahl so bemessen ist, dass ein vorgegebener maximaler Bremsschlupf nicht überschritten wird. Für den Umrichter sind also während eines Bremsvorganges alle oberhalb der Mindest-Bremsdrehzahl liegenden Bremsdrehzahlen zulässig, da damit sichergestellt ist, dass der Bremsschlupf an den Rädern nicht unzulässig groß ist. Wird eine maximale Bremsleistung über das Bremspedal vom Fahrer angefordert, steuert der Umrichter den ihm zugeordneten Antriebsmotor so an, dass dieser eine optimale Mindest-Bremsdrehzahl erreicht. Da jedem Antriebsmotor ein Umrichter zugeordnet ist, kann eine optimale Bremsleistung für jedes der Antriebsräder festgelegt werden. Dabei wird gleichzeitig sichergestellt, dass keines der Antriebsräder bei einem maximalen Bremsvorgang eine vorgegebene Bremsschlupfgrenze unterschreitet, wodurch auch in einer extremen Bremssituation eine hohe Fahrstabilität und Lenkfähigkeit sichergestellt wird. In vehicles with electromotive vehicle drive, as it is also provided in hybrid vehicles, the electric drive motors are operated during braking as generators, with a recuperative braking torque acting on the drive wheels of the drive motors. From DE 10 2008 017 480 A1, such a recuperative brake system is known, in which an electric motor is operated as a generator during the braking process. In order to avoid overbraking on the rear axle, it is proposed there that the recuperation torque is limited in such a way that the slip does not or only insignificantly exceeds a predetermined slip threshold on at least one vehicle wheel. The invention has for its object to provide an anti-lock brake system for a vehicle with electromotive vehicle drive, with the optimal braking deceleration is achieved with the greatest possible driving stability. The solution to this problem is obtained by the features specified in claim 1. Preferred embodiments of the invention are disclosed in the subclaims. According to the invention, each electric drive motor is fed by a controllable converter assigned to it, which in turn constantly receives a minimum braking speed for the associated drive motor from an anti-lock braking system control unit, ABS control unit for short, which minimum braking speed is so dimensioned. that a predetermined maximum brake slip is not exceeded. For the inverter, therefore, all braking speeds above the minimum braking rotational speed are permissible during a braking operation, since this ensures that the brake slip at the wheels is not unduly large. If a maximum braking power is requested by the driver via the brake pedal, the converter controls its associated drive motor in such a way that it achieves an optimum minimum braking speed. Since each drive motor is associated with an inverter, optimum braking power can be set for each of the drive wheels. At the same time it is ensured that none of the drive wheels under a maximum braking operation falls below a predetermined brake slip limit, whereby a high driving stability and steering ability is ensured even in an extreme braking situation.
Besonders vorteilhaft ist es, für jedes Antriebsrad in Abhängigkeit von der aktuellen Fahrgeschwindigkeit und möglicherweise weiterer Fahrbedingungen eine individuelle Mindest-Bremsdrehzahl vorzugeben. In die Berechnung der Mindest-Bremsdrehzahl für jedes Antriebsrad bzw. jeden Antriebsmotor kann nicht nur die Fahrgeschwindigkeit, sondern auch beispielsweise das aktuelle Fahrzeuggewicht, die Umgebungstemperatur, der Ladezustand des Fahrzeugs und möglicherweise auch der jeweils gewählte Betriebsmodus des Fahrzeugs eingehen. Dabei kann die Mindest-Bremsdrehzahl ständig, also auch während des normalen Fahrbetriebs, an die Umrichter übermittelt werden, so dass diese in der Bremssituation durch eine Drehzahl-Grenzwertüberwachung eine entsprechende Einhaltung der Mindest-Bremsdrehzahl vornehmen können. It is particularly advantageous to specify an individual minimum braking speed for each drive wheel as a function of the current driving speed and possibly further driving conditions. In the calculation of the minimum braking speed for each drive wheel or each drive motor, not only the driving speed, but also, for example, the current vehicle weight, the ambient temperature, the state of charge of the vehicle and possibly also the selected operating mode of the vehicle received. In this case, the minimum braking speed can be constantly transmitted to the inverters, that is to say also during normal driving operation, so that they can make a corresponding compliance with the minimum braking speed in the braking situation by means of a speed limit value monitoring.
In einem als Asynchronmotor ausgebildeten Antriebsmotor sorgt der Umrichter dafür, dass das in dem ihm zugeordneten Antriebsmotor erzeugte Drehfeld so geregelt wird, dass die vorgegebene Mindest-Bremsdrehzahl auch bei einer vorgegebenen maximalen Bremswirkung nicht unterschritten wird. Ist der Antriebsmotor als Synchronmaschine aufgebaut, wird die Drehzahl des vom Umrichter erzeugten Drehfelds bei maximal vorgegebener Bremswirkung auf die Mindest-Bremsdrehzahl geregelt. In beiden Fällen steuert das ABS- Steuergerät den Schlupf der Antriebsräder aktiv, das heißt das ABS- Steuergerät gibt dem Umrichter die zu einem optimalen Bremsschlupf gehörende Mindest-Bremsdrehzahl an. Die Schlupfregelung ist auf diese Weise individuell für jedes Antriebsrad auf einfache Weise realisierbar. In a drive motor designed as an asynchronous motor, the converter ensures that the rotating field generated in the drive motor assigned to it is regulated so that the predetermined minimum braking speed is not undershot even with a predetermined maximum braking effect. If the drive motor is constructed as a synchronous machine, the speed of the rotating field generated by the inverter is controlled to the minimum braking speed with a maximum predetermined braking effect. In both cases, the ABS control unit actively controls the slip of the drive wheels, that is, the ABS control unit indicates to the inverter the minimum brake speed associated with optimal brake slip. The slip control is individually realized in this way for each drive wheel in a simple manner.
Um hohe Verzögerungswerte zu erreichen und die Fahrstabilität des Fahrzeugs auch bei starkem Abbremsen noch ausreichend gewährleisten zu können, ist ein Bremsschlupf für jedes Antriebsrad im Bereich zwischen 10 % bis 20 % der jeweils aktuellen Fahrgeschwindigkeit des Fahrzeugs begrenzt. Welcher Wert dabei exakt zweckmäßig ist, kann in einem Wertespeicher eines Steuergeräts für das jeweilige Fahrzeug und für unterschiedliche Fahrbetriebszustände abgelegt sein. Der jeweils aktuell gültige Wert für den maximalen Bremsschlupf kann aber auch anhand von aktuellen Fahrzeugparametern, wie Fahrzeuggewicht, Fahrgeschwindigkeit, Umgebungstemperatur, berechnet werden. Dabei kann auch eine Unterstützung des rekuperativen Bremsmoments durch die hydraulischen Reibungsbremsen des Fahrzeugs erfolgen. Beispielsweise kann eine Grundbremsleistung durch die Reibungsbremsen bereitgestellt werden, während das darüber hinaus erforderliche Bremsmoment durch eine entsprechende Drehzahlregelung an den Umrichtern der Antriebsmotoren bereitgestellt wird. In order to achieve high deceleration values and to be able to adequately ensure the driving stability of the vehicle even during heavy braking, brake slip is limited for each drive wheel in the range between 10% and 20% of the respectively current driving speed of the vehicle. Which value is exactly expedient can be stored in a value memory of a control device for the respective vehicle and for different driving states. However, the currently valid value for the maximum brake slip can also be calculated on the basis of current vehicle parameters, such as vehicle weight, driving speed, ambient temperature. In this case, a support of the recuperative braking torque can be done by the hydraulic friction brakes of the vehicle. For example, a basic braking power may be provided by the friction brakes, while that beyond required braking torque is provided by an appropriate speed control to the inverters of the drive motors.
Eine Aufteilung der von den Reibungsbremsen ausgehenden Bremswirkung und der rekuperativen Bremswirkung der Antriebsmotoren kann im Fahrdynamikregler oder einem anderen Steuergerät des Fahrzeugs erfolgen. A division of the emanating from the friction brakes braking effect and the recuperative braking effect of the drive motors can be done in the vehicle dynamics controller or another control device of the vehicle.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung gemäß Figur 1 dargestellten Blockschaltbildes näher erläutert. The invention will be explained in more detail with reference to a block diagram shown in the drawing of Figure 1.
Das in Fig. 1 dargestellte Ausführungsbeispiel zeigt das Antriebs- und Bremssystem eines Fahrzeugs mit elektromotorischem Fahrzeugantrieb, wobei jedes der vier Antriebsräder AR1 bis AR4 von jeweils einem zugeordneten elektrischen Antriebsmotor M1 bis M4 angetrieben wird. Die Antriebsmotoren M1 bis M4 werden während eines Bremsvorganges als Generatoren betrieben und erzeugen dadurch ein rekuperatives Bremsmoment an den Antriebsrädern AR1 bis AR4. The embodiment shown in Fig. 1 shows the drive and brake system of a vehicle with electromotive vehicle drive, wherein each of the four drive wheels AR1 to AR4 is driven by an associated electric drive motor M1 to M4. The drive motors M1 to M4 are operated as generators during a braking operation and thereby generate a recuperative braking torque at the drive wheels AR1 to AR4.
Die Antriebsmotoren M1 bis M4 werden von jeweils zugeordneten Umrichtern U1 bis U4 mit einem Drei-Phasen-Drehstrom gespeist. Eingangsseitig sind die Umrichter U1 bis U4 an die Versorgungsspannung Uv angeschlossen. An Steuereingängen S1 bis S4 sind die Umrichter U1 bis U4 mit einem ABS- Steuergerät ABS und einem weiteren Steuergerät SG verbunden, welches hier das Motorsteuergerät mit integriertem Fahrdynamikregler ist. Das ABS- Steuergerät ABS und das Steuergerät SG sind über Steuerleitungen außerdem mit Sensoreinheiten SE1 bis SE4 verbunden, die antriebsspezifische Informationen an die Steuergeräte ABS und SG übertragen. Insbesondere werden von den Sensoreinheiten SE1 bis SE4 die Raddrehzahlen der Antriebsräder AR1 bis AR4 erfasst, mit denen im Steuergerät ABS und/oder SG die Umfangsgeschwindigkeiten der Antriebsräder AR1 bis AR4 individuell errechnet werden können. Durch einen Vergleich mit der jeweils aktuellen Fahrgeschwindigkeit des Fahrzeugs kann aus den Umfangsgeschwindigkeiten der Antriebsräder AR1 bis AR4 auf den jeweiligen Schlupf für jedes der Antriebsräder AR1 bis AR4 geschlossen werden. Für das Antiblockiersystem wird insbesondere während eines Bremsvorganges der Bremsschlupf für die jeweiligen Antriebsräder AR1 bis AR4 ermittelt. The drive motors M1 to M4 are fed by respective associated converters U1 to U4 with a three-phase rotary current. On the input side, the inverters U1 to U4 are connected to the supply voltage U v . At control inputs S1 to S4, the inverter U1 to U4 are connected to an ABS control unit ABS and another control unit SG, which is here the engine control unit with integrated vehicle dynamics controller. The ABS control unit ABS and the control unit SG are also connected via control lines with sensor units SE1 to SE4, which transmit drive-specific information to the control units ABS and SG. In particular, the wheel speeds of the drive wheels AR1 to AR4 are detected by the sensor units SE1 to SE4, with which in the control unit ABS and / or SG the peripheral speeds of the Drive wheels AR1 to AR4 can be calculated individually. By comparing with the respective current driving speed of the vehicle can be closed from the peripheral speeds of the drive wheels AR1 to AR4 on the respective slip for each of the drive wheels AR1 to AR4. For the anti-lock braking system, the brake slip for the respective drive wheels AR1 to AR4 is determined in particular during a braking operation.
Zur Unterstützung der rekuperativen Bremswirkung ist jedes Antriebsrad AR1 bis AR4 mit einer Reibungsbremse RB1 bis RB4 ausgerüstet, die vom ABS- Steuergerät ABS betätigt werden. Das ABS-Steuergerät ABS kann bei einem Bremsvorgang die Reibungsbremsen RB1 bis RB4 so betätigen, dass von ihnen ein Grundbremsmoment auf die Antriebsräder AR1 bis AR4 übertragen wird. Diesem Grundbremsmoment kann nun eine rekuperative Bremswirkung überlagert werden, die von den Antriebsmotoren M1 bis M4 ausgeht. Zu diesem Zweck werden die Antriebsmotoren M1 bis M4 als Generatoren betrieben und dabei daraufhin überwacht, dass eine vorgegebene Mindest- Bremsdrehzahl nicht unterschritten wird. Diese Mindest-Bremsdrehzahl, die für jedes Antriebsrad AR1 bis AR4 individuell vorgegeben sein kann, entspricht einem vorgegebenen Bremsschlupf, der als Grenzwert nicht überschritten werden sollte. Die Mindest-Bremsdrehzahl begrenzt damit den Bremsschlupf an den Antriebsrädern AR1 bis AR4. To support the recuperative braking effect, each drive wheel AR1 to AR4 is equipped with a friction brake RB1 to RB4, which are actuated by the ABS control unit ABS. During a braking operation, the ABS control unit ABS can actuate the friction brakes RB1 to RB4 in such a way that a basic braking torque is transmitted to the drive wheels AR1 to AR4 from them. This basic braking torque can now be superimposed on a recuperative braking effect emanating from the drive motors M1 to M4. For this purpose, the drive motors M1 to M4 are operated as generators and thereby monitored that a predetermined minimum braking speed is not exceeded. This minimum braking speed, which can be set individually for each drive wheel AR1 to AR4, corresponds to a predetermined brake slip, which should not be exceeded as a limit value. The minimum braking speed thus limits the brake slip on the drive wheels AR1 to AR4.
Wird beispielsweise vom ABS-Steuergerät ABS für die aktuelle Bremssituation ein optimaler und damit auch maximaler Bremsschlupf von 15 % vorgegeben, so kann daraus die Mindest-Bremsdrehzahl nmin für das jeweilige Antriebsrad wie folgt ermittelt werden: rimin = vmir/2Trr wobei vmin die um den vorgegebenen maximalen Bremsschlupf reduzierte Umfangsgeschwindigkeit des Antriebsrads und r der dynamische Reifenhalbmesser (Reifenradius) des jeweiligen Antriebsrads ist. Bei einer aktuellen Fahrgeschwindigkeit von 25 m/s ergibt sich für einen maximal zulässigen Bremsschlupf von 15 % im vorliegenden Beispiel eine Geschwindigkeit vmin = 21 ,25 m/s (Meter pro Sekunde). Der auf diese Weise ermittelte Wert für die Mindest-Bremsdrehzahl nmin wird anhand der aktuellen Fahrsituation für jedes der Antriebsräder AR1 bis AR4 individuell ermittelt und vom ABS-Steuergerät ABS an die jeweils zugehörigen Umrichter U1 bis U4 übermittelt. Auf diese Weise erfolgt eine direkte Steuerung der Umrichter U1 bis U4 zur Steuerung der Raddrehzahlen der Antriebsräder AR1 bis AR4 in der Weise, dass die jeweils vorgegebene Mindest-Bremsdrehzahl nmin nicht unterschritten wird. Während des Bremsvorganges wird diese Mindest- Bremsdrehzahl vom ABS-Steuergerät ständig aktualisiert und den Umrichtern U1 bis U4 mitgeteilt. If, for example, the ABS control unit ABS specifies an optimum and thus also maximum brake slip of 15% for the current braking situation, then the minimum braking rotational speed n min for the respective drive wheel can be determined from this as follows: rimin = v mir / 2Trr where v min is the peripheral speed of the drive wheel reduced by the predetermined maximum brake slip, and r is the dynamic tire radius (tire radius) of the respective drive wheel. At a current travel speed of 25 m / s, the maximum permissible brake slip of 15% in the present example results in a speed v min = 21, 25 m / s (meters per second). The value determined in this way for the minimum braking speed n min is individually determined on the basis of the current driving situation for each of the drive wheels AR1 to AR4 and transmitted from the ABS control unit ABS to the respectively associated converters U1 to U4. In this way, there is a direct control of the inverter U1 to U4 to control the wheel speeds of the drive wheels AR1 to AR4 in such a way that the respective predetermined minimum braking speed n min is not exceeded. During the braking process, this minimum brake speed is constantly updated by the ABS control unit and communicated to the inverters U1 to U4.
Den Umrichtern U1 bis U4 kann außer der Mindest-Bremsdrehzahl auch der aktuelle Istwert der Raddrehzahl des zugehörigen Antriebsrads AR1 bis AR4 über die Steuereingänge S1 bis S4 übermittelt werden, so dass im Umrichter U1 bis U4 ein ständiger Istwert-Sollwert- Vergleich zu Regelzwecken durchgeführt werden kann. Die Umrichter U1 bis U4 können somit auch allgemein als elektrische Motorsteuereinrichtungen bezeichnet werden. In addition to the minimum braking speed, the current actual value of the wheel speed of the associated drive wheel AR1 to AR4 can also be transmitted to the converters U1 to U4 via the control inputs S1 to S4, so that a constant actual value setpoint comparison is carried out in the converter U1 to U4 for control purposes can. The inverters U1 to U4 can thus also be generally referred to as electric motor control devices.

Claims

Patentansprüche claims
Antiblockiersystem für ein Fahrzeug mit elektromotorischem Fahrzeugantrieb, der einen oder mehrere Antriebsmotoren (M1 bis M4) umfasst, bei dem während eines Bremsvorganges die Bremswirkung der als Generator betriebenen Antriebsmotoren (M1 bis M4) so begrenzt wird, dass der Bremsschlupf an mindestens einem Antriebsrad (AR1 bis AR4) auf einen vorgegebenen Schwellwert begrenzt wird, dadurch gekennzeichnet, dass die Drehzahl jedes Antriebsmotors (M1 bis M4) von einem ihm zugeordneten steuerbaren Umrichter (U1 bis U4) geregelt wird, und dass das ABS-Steuergerät (ABS) zur Begrenzung des Bremsschlupfes jedem Umrichter (U1 bis U4) eine nicht zu unterschreitende Mindest-Bremsdrehzahl (nmin) für den ihm zugeordneten Antriebsmotor (M1 bis M4) ständig übermittelt. Anti-lock braking system for a vehicle with electromotive vehicle drive, comprising one or more drive motors (M1 to M4), during which the braking effect of the drive motors operated as a generator (M1 to M4) is limited so that the brake slip on at least one drive wheel (AR1 to AR4) is limited to a predetermined threshold value, characterized in that the rotational speed of each drive motor (M1 to M4) is controlled by a controllable inverter (U1 to U4) assigned to it, and in that the ABS control unit (ABS) for limiting the brake slip each inverter (U1 to U4) a not to be exceeded minimum braking speed (n min ) for its associated drive motor (M1 to M4) constantly transmitted.
Antiblockiersystem nach Anspruch 1 , dadurch gekennzeichnet, dass für eine maximale Bremswirkung ein vom Fahrbetrieb abhängiger optimaler Bremsschlupf für jedes Antriebsrad (AR1 bis AR4) ermittelt und daraus eine von der aktuellen Fahrgeschwindigkeit und/oder weiterer Fahrzeugparameter abhängige Mindest-Bremsdrehzahl (nmin) für jedes Antriebsrad (AR1 bis AR4) vorgegeben wird. Anti-lock braking system according to claim 1, characterized in that for maximum braking action dependent on the driving optimum brake slip for each drive wheel (AR1 to AR4) and determines a dependent on the current driving speed and / or other vehicle parameters minimum braking speed (n min ) for each Drive wheel (AR1 to AR4) is specified.
Antiblockiersystem nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Drehzahl des vom Umrichter (U1 bis U4) in dem ihm zugeordneten Antriebsmotor (M1 bis M4) erzeugten Drehfelds so geregelt wird, dass die vorgegebene Mindest-Bremsdrehzahl (nmin) nicht unterschritten wird. Antiblockiersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei Verwendung von Synchronmaschinen als Antriebsmotoren (M1 bis M4) die Drehzahl des vom Umrichter (U1 bis U4) erzeugten Drehfelds die Mindest-Bremsdrehzahl (nmin) des zugehörigen Antriebsrads (AR1 bis AR4) nicht unterschreitet. Anti-lock braking system according to one of claims 1 or 2, characterized in that the rotational speed of the inverter (U1 to U4) in the associated drive motor (M1 to M4) generated rotating field is controlled so that the predetermined minimum braking speed (n min ) not is fallen short of. Anti-lock braking system according to one of the preceding claims, characterized in that when using synchronous machines as drive motors (M1 to M4) the speed of the rotating field generated by the inverter (U1 to U4) the minimum braking speed (n min ) of the associated drive wheel (AR1 to AR4) not below.
Antiblockiersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass für eine maximale Bremswirkung der maximale Bremsschlupf für jedes Antriebsrad auf einen Wert zwischen 10 % bis 20 % der Fahrgeschwindigkeit des Fahrzeugs begrenzt ist. Anti-lock braking system according to one of the preceding claims, characterized in that for a maximum braking effect of the maximum brake slip for each drive wheel is limited to a value between 10% to 20% of the vehicle speed.
Antiblockiersystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass beim Bremsvorgang die von den im Generatorbetrieb betriebenen Antriebsmotoren (M1 bis M4) ausgehende Bremswirkung durch Reibungsbremsen (RB1 bis RB4) unterstütz wird. Anti-lock braking system according to one of the preceding claims, characterized in that during the braking operation, the braking action emanating from the drive motors (M1 to M4) operated in generator mode is assisted by friction brakes (RB1 to RB4).
Antiblockiersystem nach Anspruch 6, dadurch gekennzeichnet, dass ein Fahrdynamikregler oder ein sonstiges Steuergerät (SG) ein von den Reibungsbremsen (RB1 bis RB4) zu erzeugendes Grund-Bremsmoment an das ABS-Steuergerät (ABS) übermittelt, und dass das ABS- Steuergerät (ABS) die Reibungsbremsen (RB1 bis RB4) entsprechend betätigt und das für eine optimale Bremswirkung erforderliche Rest- Bremsmoment über die Drehzahlregelung der im Generatorbetrieb arbeitenden Antriebsmotoren (M1 bis M4) einstellt. Anti-lock braking system according to claim 6, characterized in that a driving dynamics controller or another control device (SG) transmits one of the friction brakes (RB1 to RB4) to be generated basic braking torque to the ABS control unit (ABS), and that the ABS control unit (ABS ) the friction brakes (RB1 to RB4) operated accordingly and the required for optimum braking residual braking torque on the speed control of operating in generator mode drive motors (M1 to M4).
EP12708495.2A 2011-05-06 2012-02-28 Anti-blocking system for a vehicle having an electromotive vehicle drive unit Active EP2704932B1 (en)

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PCT/EP2012/000853 WO2012152348A1 (en) 2011-05-06 2012-02-28 Anti-blocking system for a vehicle having an electromotive vehicle drive unit

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DE102011100811A1 (en) 2012-11-08
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EP2704932B1 (en) 2019-04-10
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